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NASA NTRS · 20210004193

A Highly Redundant Robot System for Inspection

Hayati, Samad·Ohm, Tim·Lee, Thomas S.
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Abstract

The work on the serpentine inspection system at JPL is described. The configuration of the inspection system consists of 20 DOF in total. In particular, the design and development of the serpentine micromanipulator end-effector tool which has 12 DOF is described. The inspection system is used for application in JPL's Remote Surface Inspection project and as a research tool in redundant manipulator control.

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robotinspectionsystemmicromanipulatormanipulatorremotesurfaceteleroboticsteleoperatorspacestructuresend-effectorconfinedspacesserpentine

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Hayati, Samad, Ohm, Tim, Lee, Thomas S.. 1994-03-20. A Highly Redundant Robot System for Inspection. https://ntrs.nasa.gov/citations/20210004193

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